Related papers: Bringing Network Coding into Multi-Robot Systems: …
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…
Connected and autonomous vehicles (CAVs) promise next-gen transportation systems with enhanced safety, energy efficiency, and sustainability. One typical control strategy for CAVs is the so-called cooperative adaptive cruise control (CACC)…
Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular…
Multi-agent reinforcement learning (MARL) has made significant strides in enabling coordinated behaviors among autonomous agents. However, most existing approaches assume that communication is instantaneous, reliable, and has unlimited…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
In a distributed computing system operating according to the map-shuffle-reduce framework, coding data prior to storage can be useful both to reduce the latency caused by straggling servers and to decrease the inter-server communication…
Maximum distance separable erasure coding has been introduced in wireless networks based on random medium access protocols in order to recover collided and erased packets. So, this help to avoid retransmission process which weaken the…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
We propose an information transmission scheme by a swarm of anonymous oblivious mobile robots on a graph. The swarm of robots travel from a sender vertex to a receiver vertex to transmit a symbol generated at the sender. The codeword for a…
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…
This paper focuses on the broadcast of information on robot networks with stochastic network interconnection topologies. Problematic communication networks are almost unavoidable in areas where we wish to deploy multi-robotic systems,…
In recent years, a significant amount of research has been conducted to explore the benefits of network coding in different scenarios, from both theoretical and simulation perspectives. In this paper, we utilize queueing theory to propose…
With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based network infrastructures in robotic systems becomes crucial.…
Recent advances in electronics are enabling substantial processing to be performed at each node (robots, sensors) of a networked system. Local processing enables data compression and may mitigate measurement noise, but it is still slower…
Cooperative techniques have been shown to significantly improve the performance of wireless systems. Despite being a mature technology in single communication link scenarios, their implementation in wider, and practical, networks poses…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…
Delays and data losses are undesirable from a control system perspective as they tend to adversely affect performance Networked Control Systems (NCSs) are a class of control systems wherein control components exchange information using a…
Systems of networked mobile robots, such as unmanned aerial or ground vehicles, will play important roles in future military and commercial applications. The communications for such systems will typically be over wireless links and may…
With the growing popularity of mobile smart devices, the existing networks are unable to meet the requirement of many complex scenarios; current network architectures and protocols do not work well with the network with high latency and…